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4.5.3.2

Access via SDO

By means of SDO access the in/output data of the object directory may be read. The fol-

lowing figure shows how the in/output data are mapped on the SDO objects in operation

mode

Normal Mode

Index

Module

Subindex

0x6000

SM 021 DI 2x DC 24V

01h, 02h

0x6002

SM 031 AI 2x 12Bit

01h, 02h

0x6003

FM 050 1x32Bit

01h, 02h, 03h, 04h

0x6004

SM 021 DI 4x DC 24V

01h, 02h, 03h, 04h

Index

Module

Subindex

0x7001

SM 022 DO 4x DC 24V

01h, 02h, 03h, 04h

0x7003

FM 050 1x32Bit

01h, 02h, 03h, 04h

Input data

EtherCAT-Slot

Output data

EtherCAT-Slot

System SLIO

Deployment

Accessing the System SLIO > Accessing the I/O area

HB300 | IM | 053-1EC01 | en | 22-30

Содержание SLIO

Страница 1: ...IM 053 1EC01 Manual HB300 IM 053 1EC01 en 22 30 System SLIO Interface module EtherCAT IM 053EC...

Страница 2: ...053 1EC01_000_IM 053EC 7 EN 2022 YASKAWA Europe GmbH Hauptstra e 185 65760 Eschborn Germany Tel 49 6196 569 300 Fax 49 6196 569 398 Email info yaskawa eu com Internet www yaskawa eu com...

Страница 3: ...shooting LEDs 38 2 8 Industrial security and installation guidelines 39 2 8 1 Industrial security in information technology 39 2 8 2 Installation guidelines 41 2 9 General data for the System SLIO 43...

Страница 4: ...ing diagnostics data 75 4 6 Accessing the web server via Ethernet 78 4 6 1 Web server 78 4 7 Data transfer via PDO and SDO 81 4 8 Variable PDO mapping via SDO 81 4 9 Object Dictionary 82 4 10 Error ha...

Страница 5: ...Beckhoff Automation GmbH S7 is a registered trademark of Siemens AG All other trademarks logos and service or product marks specified herein are owned by their respective companies Every effort has b...

Страница 6: ...t users who have a background in automation technology n The manual consists of chapters Each chapter describes a completed topic n For guidance the manual provides An overall table of contents at the...

Страница 7: ...department n commissioning n operation CAUTION The following conditions must be met before using or commis sioning the components described in this manual Hardware modifications to the process control...

Страница 8: ...es that have been damaged by electrostatic discharges can fail after a temperature change mechanical shock or changes in the electrical load Only the consequent implementation of protection devices an...

Страница 9: ...plexity is low because the supply of the DC 24V power section supply is integrated to the backplane bus and defective modules may be replaced with standing wiring By deployment of the power modules in...

Страница 10: ...y modules at the backplane bus these are electrically connected this means these are assigned to the backplane bus the electronic modules are power supplied and each periphery module is connected to t...

Страница 11: ...modules in on line By means of the line extension you can divide this line into several lines Here you have to place a line extension master at each end of a line and the subsequent line has to start...

Страница 12: ...as whole system The functionality of a periphery module is defined by the electronic module which is mounted to the terminal module by a sliding mechanism With an error the defective elec tronic modu...

Страница 13: ...With the wiring a push in spring clip technique is used This allows a quick and easy connection of your signal and supply lines The clamping off takes place by means of a screwdriver In the System SL...

Страница 14: ...re that the associated terminal block is plugged again when the electronics unit is replaced There is the possibility to fix the assignment of electronic and terminal module Here coding pins order num...

Страница 15: ...of the corre sponding electronic module n Depending on the module type there are the following 2 variants e g to indicate hardware revision 1 Current modules have a 1 on the front With earlier module...

Страница 16: ...CPU 01x Bus coupler and line extension slave Line extension master System SLIO Basics and mounting Dimensions HB300 IM 053 1EC01 en 22 30 16...

Страница 17: ...104 109 76 5 15 12 9 8x periphery module Electronic module 16x periphery module System SLIO Basics and mounting Dimensions HB300 IM 053 1EC01 en 22 30 17...

Страница 18: ...s coupler is directly mounted at a mounting rail Up to 64 modules may be mounted The electronic and power section supply are connected via the back plane bus Please consider here that the sum current...

Страница 19: ...6x periphery modules 1 Before mounting the periphery modules you have to remove the bus cover at the right side of the bus coupler by pulling it forward Keep the cover for later mounting Clack 2 Mount...

Страница 20: ...vironment Devices which are attached to the system must meet theses specifications Installation and cable routing other than SELV PELV specification must be separated from the system s equipment 2 5 1...

Страница 21: ...sert the stripped end of wire into the round opening You can use wires with a cross section of 0 08mm2 up to 1 5mm2 3 By removing the screwdriver the wire is securely fixed via the spring contact to t...

Страница 22: ...d n The power section supply is to be externally protected with a fuse which corresponds to the maximum current This means max 10A is to be protected with a 10A fuse fast respectively by a line circui...

Страница 23: ...h the cables with the accordingly stripped cable screen and fix it by the shield clamp with the shield bus 2 5 2 Wiring 8x periphery modules CAUTION Do not connect hazardous voltages If this is not ex...

Страница 24: ...ontact to the terminal 1 Shield bus carrier 2 Shield bus 10mm x 3mm 3 Shield clamp 4 Cable shield To attach the shield the mounting of shield bus carriers are necessary The shield bus carrier availabl...

Страница 25: ...inal block for wiring n With the wiring of the terminal block a push in spring clip technique is used This allows a quick and easy connection of your signal and supply lines n The clamping off takes p...

Страница 26: ...eleases the wire 2 Pull the wire from the round hole 2 5 4 Wiring power modules Power modules are either integrated to the head module or may be installed between the periphery modules With power modu...

Страница 27: ...ert the stripped end of wire into the round opening You can use wires with a cross section of 0 08mm2 up to 1 5mm2 3 By removing the screwdriver the wire is securely fixed via the spring contact to th...

Страница 28: ...n The power section supply is to be externally protected with a fuse which corresponds to the maximum current This means max 10A is to be protected with a 10A fuse fast respectively by a line circuit...

Страница 29: ...max 4A n By placing the power module 007 1AB10 at the following backplane bus modules may be placed with a sum current of max 2A Afterwards a power module is to be placed again To secure the power sup...

Страница 30: ...h the cables with the accordingly stripped cable screen and fix it by the shield clamp with the shield bus 2 6 Demounting 2 6 1 Demounting bus coupler CAUTION Bus interface and power module may not be...

Страница 31: ...mount the bus coupler put it to the left periphery module and push it guided by the stripes to the mounting rail 8 Turn all the locking lever downward again 9 Plug again the electronic module which yo...

Страница 32: ...o the terminal module Now you can bring your system back into operation Easy Maintenance Easy Maintenance means the support for adding and removing elec tronic modules during operation without having...

Страница 33: ...ver of the module to be exchanged upwards 5 Pull the module 6 For mounting turn the locking lever of the module to be mounted upwards 7 To mount the module put it to the gap between the both modules a...

Страница 34: ...f the module group to be exchanged upwards 5 Pull the module group forward 6 For mounting turn all the locking lever of the module group to be mounted upwards 7 To mount the module group put it to the...

Страница 35: ...lace Now you can bring your system back into operation Clack 1 2 Clack Clack 1 Power off your system 2 Remove if exists the wiring of the module respectively the wired terminal block 3 In contrast to...

Страница 36: ...plug the wired terminal block again Now you can bring your system back into operation 1 Power off your system 2 Remove if exists the wiring of the module group respectively the wired terminal blocks 3...

Страница 37: ...een the both modules and push it guided by the stripes at both sides to the mounting rail 7 Turn all the locking lever downward again 8 Wire your module group respectively plug the wired terminal bloc...

Страница 38: ...ng power modules page 26 Behaviour After PowerON the MF LED of one module respectively more modules flashes The RUN LED remains off Reason At this position a module is placed which does not correspond...

Страница 39: ...The most important precautions to prevent manipulation and loss of data security in the industrial environment are n Encrypting the data traffic by means of certificates n Filtering and inspection of...

Страница 40: ...Only the communication ports that are used for communication should be acti vated Only the communication protocols that are used for communication should be activated n Consider possible defence stra...

Страница 41: ...ystems Only boot from storage media that are protected against manipulation n Use encryption systems on your storage media n Perform security assessments regularly to reduce the risk of manipulation n...

Страница 42: ...bars metal rails tin cabinet n Proof the correct fixing of the lead isolation Data lines must be shielded Analog lines must be shielded When transmitting signals with small amplitudes the one sided l...

Страница 43: ...nsferred foil isolations static isolations are used n With data lines always use metallic or metallised plugs for serial couplings Fix the isolation of the data line at the plug rack Do not lay the is...

Страница 44: ...60068 2 14 25 70 C Operation Horizontal installation hanging EN 61131 2 0 60 C Horizontal installation lying EN 61131 2 0 55 C Vertical installation EN 61131 2 0 50 C Air humidity EN 60068 2 30 RH1 w...

Страница 45: ...ity 3 EN 61000 4 5 Surge degree of severity 31 1 Due to the high energetic single pulses with Surge an appropriate external protective circuit with lightning protection elements like conductors for li...

Страница 46: ...oE File Access over EtherCAT n Supports safety modules FSoE n Online configuration via master system n Various diagnostics functions n RJ45 jack 100BaseTX n Operation Modes FreeRun SyncManager Event D...

Страница 47: ...supply 8 Power module 9 EtherCAT RJ45 bus interface IN 10 EtherCAT RJ45 bus interface OUT 11 Unlocking lever power module 12 Bus interface 13 Terminal power module 14 Address switch 3 2 1 Interfaces C...

Страница 48: ...ort 1 jack is to be connected to the succeeding EtherCAT station With the respective last EtherCAT station the OUT jack remains free n EtherCAT uses Ethernet as transfer medium Standard CAT5 cables ar...

Страница 49: ...4 2 Setting the HotConnect address page 57 Pos Value Example State Address 1 not used 1 2 32 35 Address 35 2 1 1 3 2 1 4 4 0 5 8 0 6 16 0 7 32 1 8 64 0 3 2 3 LEDs PWR IO green PWR green PF red Descrip...

Страница 50: ...ceding station green Blinking with 10Hz Preceding EtherCAT station is con nected L A2 Off no communication to the succeeding station green Blinking with 10Hz Succeeding EtherCAT station is connected 3...

Страница 51: ...display yes Interrupts yes parameterizable Process alarm yes parameterizable Diagnostic interrupt yes parameterizable Diagnostic functions yes parameterizable Diagnostics information read out possible...

Страница 52: ...pported command Cyclic Supported command Event driven Supported command Message Datasizes Input bytes 20 Output bytes Parameter bytes 3 Diagnostic bytes Housing Material PPE PPE GF10 Mounting Profile...

Страница 53: ...many stations EtherCAT has a rate of user data of over 90 n The EtherCAT protocol which is optimized for process data is directly transported with the Ethernet frame This again can consist of several...

Страница 54: ...f an EtherCAT frame at the bus the outputs of the EtherCAT slave stations are activated at different times and the inputs are read at different times For an isochronous access to the process data Ethe...

Страница 55: ...ation is blocked In Safe Op the input data are cyclically updated but the outputs are de activated With the transition from Pre Op to Safe Op the EtherCAT slave checks if the SyncManager chan nels for...

Страница 56: ...means Ethernet over EtherCAT n Automatically activated when switching from Init to Pre Operational Pre Op n Is deactivated automatically when switching from Pre Operational Pre Op to Init 4 1 5 ESI f...

Страница 57: ...of the HotConnect address via Explicit Device ID happens as follows 1 Switch off the power supply of the bus coupler 2 Set the address at the address switch Pos Value Example State Address 1 not used...

Страница 58: ...orts FSoE safety modules For this switching to Enhanced mode is required More information on the use of the Yaskawa FSoE safety modules can be found in the corresponding manual You can specify the cor...

Страница 59: ...e The object can also be written by an Init command More may be found in the manual of your configuration tool In the synchronization mode Free Run the processing of the process data is controlled by...

Страница 60: ...ax required cycle time in s 1 83 number of modules 0 33 S of input and output bytes 60 In the following you will find the description of accessing the following System SLIO areas via EtherCAT n I O ar...

Страница 61: ...erCAT coupler and so are not listed respectively considered during slot allocation Further within EtherCAT the slots are designated as EtherCAT Slot The counting always begins with 0 Please note that...

Страница 62: ...bindex 0x6000 SM 021 DI 2x DC 24V 01h 02h 0x6002 SM 031 AI 2x 12Bit 01h 02h 0x6003 FM 050 1x32Bit 01h 02h 03h 04h 0x6004 SM 021 DI 4x DC 24V 01h 02h 03h 04h Index Module Subindex 0x7001 SM 022 DO 4x D...

Страница 63: ...ts is to be incremented accordingly The index is calculated as follows IndexEnhanced Index 16 EtherCAT Slot Chap 4 3 Operating Mode Normal Enhanced mode page 58 n With this object the input data of a...

Страница 64: ...he index is calculated as follows IndexEnhanced Index 16 EtherCAT Slot Chap 4 3 Operating Mode Normal Enhanced mode page 58 n With this object the output data of a System SLIO may be read n Here the a...

Страница 65: ...eter SLIO Module Index Sub Name Type Offset Access Default Description 0x3100 0x313F 00 Parameter U8 0 ro Number of parameters Access to the parameters of the System SLIO modules Only modules with par...

Страница 66: ...Target configuration The target configuration is the hardware configuration as the superset of all avail able hardware variants It serves as a template for the configuration of hardware variants n Act...

Страница 67: ...configura tion is located Subindex The subindex for the FMM configuration results from the Slottarget This value is identical when configuring hardware variants Mapping Mapping corresponds to the hex...

Страница 68: ...DIO 1byte 1byte 0101h 4 AI 8byte 0800h 5 AO 8byte 0008h 6 CP 60byte 60byte 3C3Ch Slottarget The FMM configuration always refers to the slot of the target configuration Subindex The subindex for the F...

Страница 69: ...uration at Slotactual 5 Mapping 05h n Subindex 05 The module of Slottarget 5 is in the actual configuration at Slotactual 6 Mapping 06h n Subindex 06 The module of Slottarget 6 is in the actual config...

Страница 70: ...iguration at Slotactual 4 Mapping 04h n Subindex 06 The module of Slottarget 6 is not available in the actual configuration Mapping FFh Slottarget The FMM configuration always refers to the slot of th...

Страница 71: ...e actual configuration at Slotactual 4 Mapping 04h Slottarget The FMM configuration always refers to the slot of the target configuration Subindex The subindex for the FMM configuration results from t...

Страница 72: ...at passive bus connection The bus cable is removed As soon as a module is removed the IM 053 1EC01 detects this and automati cally refreshes its configuration As soon as a module is added to the exist...

Страница 73: ...f an incompatible module is inserted into the slot of a previously removed module during an active bus connection the IM 053 1EC01 behaves as follows The System SLIO backplane bus is refreshed Since a...

Страница 74: ...01 Module Name VSTRG 16 ro 0 Module Name 0x4100 02 Module ID U32 256 ro 0 Module ID 0x4100 03 Serial Number VSTRG 288 ro 0 Serial number of the module 0x4100 04 Product Version VSTRG 448 ro 0 Product...

Страница 75: ...F100 03 Diagnostic Module Status U64 80 ro 0x00000000 64 bit array each bit represents a pending but acknowledged diagnostic alarm Explanation of the elements page 82 n With de activated Auto Acknowle...

Страница 76: ...like to subindex 0x06 of index 0x5000 Diagnostic Interrupt Data byte 1 4 Index Sub Name Type Offset Access Default Description 0x5002 00 Diagnostic Inter rupt Data U8 0 ro 6 Current diagnostic interru...

Страница 77: ...of chan nels U8 72 ro 0 0x5005 09 Channel error U8 80 ro 0 0x5005 0A Channel specific error channel 0 U8 88 ro 0 0x5005 0B Channel specific error channel 1 U8 96 ro 0 0x5005 0C Channel specific error...

Страница 78: ...he activation is carried out via the Command object 0x2000 Default deactivated Command page 93 Procedure n Use Parameter object 0x2000 02 to determine whether the web server is enable 1 or disable 0 n...

Страница 79: ...rdering Info 053 1EC01 Serial 01902682 Version 01V12 004 HW Revision 01 Software 1 1 1 0 Info Expert View n Info Here order number serial number and the version of firmware and hardware of the IM 053...

Страница 80: ...e Ordering Info 021 1BF00 Serial 00101556 Version 01V30 003 HW Revision 01 Device 053 1EC01 Module 1 021 1BD00 Module 2 021 1BF00 Info Software 1 2 8 0 Expert View n Info Here product name order numbe...

Страница 81: ...r These startup commands are SDO write accesses to the areas 0x16yy and 0x1Ayy PDO mapping where the structure of the process data of a module is described The startup commands are executed with each...

Страница 82: ...not be recognized by the EtherCAT coupler and so are not listed respectively considered during slot allocation Further within EtherCAT the slots are designated as EtherCAT Slot The counting always be...

Страница 83: ...scription 0x1009 00 Hardware version VSTRG ro Hardware version of the coupler Explanation of the elements page 82 Software version Index Sub Name Type Access Default Description 0x100A 00 Software ver...

Страница 84: ...there Slave remains in state Op 1 Disable SyncManager outputs from PDI side and go to ErrSafeOp 0x10F1 02 U16 48 rw 0x0004 n Sync Error Counter Limit Limit set by the master when slave shall change it...

Страница 85: ...s mes sage OCTET STRIN G ro 0 Diagnosis message 0x10F3 255 Diagnosis mes sage OCTET STRIN G ro 0 Diagnosis message Explanation of the elements page 82 In the Diagnosis History both the diagnostic and...

Страница 86: ...of Status PDO n Bit 7 0 Length of the mapped objects in bits n Bit 15 8 Subindex of the mapped object n Bit 31 16 Index of the mapped object 0x1AFF 01 Input Mapping 01 U32 16 ro 0xF1000120 Mapping of...

Страница 87: ...Type Index Sub Name Type Offset Access Default Description 0x1C00 00 SyncManager Type U8 0 ro 4 Sync Manager Communication Type 0x1C00 01 SyncManager 1 U8 16 ro 1 1 Mailbox receive master to slave 0x...

Страница 88: ...ro PDO Mapping object index of assigned PDO 0x1Ayy 0x1C13 02 TxPDO Mapping 2 U16 ro 0x1C13 U16 ro 0x1C13 40 TxPDO Mapping 64 U16 ro Explanation of the elements page 82 The EtherCAT coupler also has p...

Страница 89: ...e supported by the slave maximum duration time of the local cycle in ns n It might be necessary to start the Dynamic Cycle Time measurement SI04 Bit 14 and SI08 Bit 0 to get a valid value used in Syn...

Страница 90: ...r counter is incremented when the time distance between the trigger Sync0 and the Outputs Valid is too short because of a too short Shift Time or Sync1 Cycle Time n Used in DC Mode 0x1C32 14 RxPDO Tog...

Страница 91: ...cycle time supported by the slave maximum duration time of the local cycle in ns n It might be necessary to start the Dynamic Cycle Time measurement SI04 Bit 14 and SI08 Bit 0 to get a valid value n...

Страница 92: ...cycle time is too small so that the local cycle cannot be completed and input data cannot be provided before the next SM event n Used in Synchronous or DC Mode 0x1C33 13 Shift Time Too Short U16 320...

Страница 93: ...r in 0x2000 02 n 0x00008001 Set web server state Parameter in 0x2000 02 0x2000 02 Parameter U32 48 ro 0 Additional parameter for command execution State web server n 1 enable n 0 disable Will be store...

Страница 94: ...ged by the EtherCAT coupler In this mode the diagnostics data were always overwritten by new interrupts Default setting is Auto acknowledge 1 For continuous use you should set Auto acknowledge 1 n Fre...

Страница 95: ...Byte 3 FMM slot to real configuration 0 empty slot 1 64 assigned slot 255 Virtual module module does not exist in the actual configuration Subindex Slot 1 of max configuration SubIndex Explanation of...

Страница 96: ...during slot allocation If the module has parameters it is valid n Index 0x3100 Access to EtherCAT Slot 0 n Index 0x3101 Access to EtherCAT Slot 1 n n Index 0x313F Access to EtherCAT Slot 64 Please no...

Страница 97: ...m SLIO Master 0x4001 01 Expected length error U16 16 ro 0 0x4001 02 TimeOut error U16 32 ro 0 0x4001 03 StopBit error U16 48 ro 0 0x4001 04 FCS error U16 64 ro 0 0x4001 05 Telegram length error U16 80...

Страница 98: ...40 Slot 64 U16 ro 0 Slot 64 Explanation of the elements page 82 Module NDL counter Index Sub Name Type Offset Access Default Description 0x4003 00 Module NDL counter U8 0 ro 64 Node Data Line Counter...

Страница 99: ...sion of the module 0x4100 07 FPGA Version U16 632 ro 0 FPGA version 0x4100 08 Mx File VSTRG 648 ro 0 Mx file of the coupler Explanation of the elements page 82 When accessing the module information of...

Страница 100: ...te any value you like to subindex 0x06 of index 0x5000 Diagnostic Interrupt Data byte 1 4 Index Sub Name Type Offset Access Default Description 0x5002 00 Diagnostic Inter rupt Data U8 0 ro 6 Current d...

Страница 101: ...0x5005 08 Number of chan nels U8 72 ro 0 0x5005 09 Channel error U8 80 ro 0 0x5005 0A Channel specific error channel 0 U8 88 ro 0 0x5005 0B Channel specific error channel 1 U8 96 ro 0 0x5005 0C Chann...

Страница 102: ...e related objects is to be incremented accordingly The index is calculated as follows IndexEnhanced Index 16 EtherCAT Slot Chap 4 3 Operating Mode Normal Enhanced mode page 58 n With this object the i...

Страница 103: ...EtherCAT Slot takes place n The corresponding output data may be accessed via subindexes The allocation of the subindexes may be found in the description of the corre sponding module Information conc...

Страница 104: ...U32 rw 0xF030 40 Subindex 064 U32 rw 0 Explanation of the elements page 82 Write access to the object 0xF030 is only possible with CompleteAccess Single access is not allowed n When writing to a subin...

Страница 105: ...n of the elements page 82 n With de activated Auto Acknowledge of the EtherCAT coupler the corresponding counter is set to 1 until you acknowledge this accordingly For this you have to write any value...

Страница 106: ...ror data with more information concerning the error With a hardware interrupt or diagnostic interrupt respectively in DATA the Manufacturer Specific Error Field MEF may be found The field has the foll...

Страница 107: ...O S P S S E 0x001D Invalid Output Configuration O S P S S E 0x001E Invalid Input Configuration O S P S P E 0x001F Invalid Watchdog Configuration O S P S P E 0x0020 Coupler needs cold start Any Curren...

Страница 108: ...master n SyncManager watchdog is used for frame monitoring If no more frames arrive to the slave in a certain time it comes to the watchdog and the slave changes to SafeOp with the AlStatusCode 0x001...

Страница 109: ...ervice parameter does not match 0x06070012 Data type does not match length of service parameter too high 0x06070013 Data type does not match length of service parameter too low 0x06090011 Subindex doe...

Страница 110: ...ve 053 1EC01 to the EtherCAT configura tion tool 2 Put the slave in state Bootstrap Refer to possible system properties when using the EtherCAT Manager the master must be in the state Init 3 Select fi...

Страница 111: ...f the EtherCAT slave on the bus does not match the position of the EtherCAT slave 053 1EC00 there is a topology error The EtherCAT slave is not controlled n Slot assignment of the modules As long as t...

Страница 112: ...ager Watchdog or State Change Timeouts are slave specific settings These parameters should be checked The following features were added n Free module mapping FMM When replacing the EtherCAT slaves ple...

Страница 113: ...nt product information about the module see manual The 053 1EC01 occupies a larger address range of the process input data than the 053 1EC00 Depending on the firmware of the 053 1EC01 used proceed as...

Страница 114: ...Appendix System SLIO Appendix HB300 IM 053 1EC01 en 22 30 114...

Страница 115: ...Content A History of changes 116 System SLIO Appendix HB300 IM 053 1EC01 en 22 30 115...

Страница 116: ...was added Chapter Deployment n Description Operating Mode Normal Enhanced mode was added n Description Accessing the I O area was changed n Description Accessing the parameter data was changed n Desc...

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